EP3822850A3 - Method and apparatus for 3d modeling - Google Patents

Method and apparatus for 3d modeling Download PDF

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Publication number
EP3822850A3
EP3822850A3 EP21165229.2A EP21165229A EP3822850A3 EP 3822850 A3 EP3822850 A3 EP 3822850A3 EP 21165229 A EP21165229 A EP 21165229A EP 3822850 A3 EP3822850 A3 EP 3822850A3
Authority
EP
European Patent Office
Prior art keywords
obstacles
surrounding environment
coordinate system
vehicle
autonomous driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP21165229.2A
Other languages
German (de)
French (fr)
Other versions
EP3822850B1 (en
EP3822850A2 (en
Inventor
Yiming LIU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Baidu Netcom Science and Technology Co Ltd
Original Assignee
Beijing Baidu Netcom Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Baidu Netcom Science and Technology Co Ltd filed Critical Beijing Baidu Netcom Science and Technology Co Ltd
Publication of EP3822850A2 publication Critical patent/EP3822850A2/en
Publication of EP3822850A3 publication Critical patent/EP3822850A3/en
Application granted granted Critical
Publication of EP3822850B1 publication Critical patent/EP3822850B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/005—General purpose rendering architectures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/18—Eye characteristics, e.g. of the iris
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4049—Relationship among other objects, e.g. converging dynamic objects

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Ophthalmology & Optometry (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Traffic Control Systems (AREA)
  • Processing Or Creating Images (AREA)
  • Image Analysis (AREA)
  • Data Mining & Analysis (AREA)
  • Image Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)

Abstract

The present disclosure discloses a method and apparatus for three-dimensional modeling, and relates to the field of intelligent transportation and autonomous driving. A specific implementation solution includes: acquiring coordinate points of obstacles in a surrounding environment of an autonomous driving vehicle in a vehicle coordinate system; determining a position of eyes of a passenger in the autonomous driving vehicle, and establishing an eye coordinate system using the position of the eyes as a coordinate origin; converting the coordinate points of the obstacles in the vehicle coordinate system to coordinate points in the eye coordinate system, and determining a visualization distance between the obstacles in the surrounding environment based on an observation angle of the eyes; and performing three-dimensional modeling of the surrounding environment, based on visualization distance between the coordinate points of the obstacles in the eye coordinate system and the obstacles. This embodiment may make the surrounding environment of the autonomous driving vehicle seen by a passenger through an on-board screen closer to the surrounding environment seen through the vehicle window.
EP21165229.2A 2020-06-29 2021-03-26 Method and apparatus for 3d modeling Active EP3822850B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010605153.4A CN111767844B (en) 2020-06-29 2020-06-29 Method and apparatus for three-dimensional modeling

Publications (3)

Publication Number Publication Date
EP3822850A2 EP3822850A2 (en) 2021-05-19
EP3822850A3 true EP3822850A3 (en) 2021-09-22
EP3822850B1 EP3822850B1 (en) 2023-09-27

Family

ID=72723210

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21165229.2A Active EP3822850B1 (en) 2020-06-29 2021-03-26 Method and apparatus for 3d modeling

Country Status (5)

Country Link
US (1) US11697428B2 (en)
EP (1) EP3822850B1 (en)
JP (1) JP7192017B2 (en)
KR (1) KR102418795B1 (en)
CN (1) CN111767844B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113420678A (en) * 2021-06-25 2021-09-21 阿波罗智联(北京)科技有限公司 Gaze tracking method, device, apparatus, storage medium, and computer program product
WO2023002890A1 (en) 2021-07-20 2023-01-26 東洋製罐グループホールディングス株式会社 Means for controlling intracellular reaction utilizing needle-shaped body

Citations (2)

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JP2008076310A (en) * 2006-09-22 2008-04-03 Nissan Motor Co Ltd Routing guide display device and routing guide method
US7375728B2 (en) * 2001-10-01 2008-05-20 University Of Minnesota Virtual mirror

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US6977630B1 (en) * 2000-07-18 2005-12-20 University Of Minnesota Mobility assist device
US6636822B2 (en) * 2002-01-17 2003-10-21 Rosco Inc. Method for testing vehicular mirrors for regulatory compliance using artificial visualization
US7257519B2 (en) * 2002-08-02 2007-08-14 Evans & Sutherland Computer Corporation System and method for weighted correction of an eyepoint position
JP2007124609A (en) * 2005-09-28 2007-05-17 Nissan Motor Co Ltd Apparatus for providing vehicle periphery image
WO2011070783A1 (en) * 2009-12-10 2011-06-16 パナソニック株式会社 Information display apparatus and information display method
US10800329B2 (en) * 2010-04-19 2020-10-13 SMR Patents S.à.r.l. Rear view mirror simulation
JP5622986B2 (en) * 2010-07-27 2014-11-12 富士通テン株式会社 Image display system, image processing apparatus, and image display method
KR101265711B1 (en) 2011-11-30 2013-05-20 주식회사 이미지넥스트 3d vehicle around view generating method and apparatus
DE102012200731A1 (en) 2012-01-19 2013-07-25 Robert Bosch Gmbh Method and device for visualizing the environment of a vehicle
US8965741B2 (en) * 2012-04-24 2015-02-24 Microsoft Corporation Context aware surface scanning and reconstruction
JP2014044569A (en) * 2012-08-27 2014-03-13 Xacti Corp Electronic apparatus
JP2015210584A (en) * 2014-04-24 2015-11-24 トヨタ自動車株式会社 Image processing apparatus
JP2016134090A (en) * 2015-01-21 2016-07-25 株式会社東芝 Image processor and drive support system using the same
US10999559B1 (en) * 2015-09-11 2021-05-04 Ambarella International Lp Electronic side-mirror with multiple fields of view
CN106504188B (en) * 2016-11-23 2018-10-23 北京清影机器视觉技术有限公司 Generation method and device for the eye-observation image that stereoscopic vision is presented
AU2018390994B2 (en) * 2017-12-22 2023-11-16 Mirage 3.4D Pty Ltd Camera projection technique system and method
CN108082083B (en) * 2018-01-16 2019-11-01 京东方科技集团股份有限公司 The display methods and display system and vehicle anti-collision system of a kind of occluded object
CN110619303A (en) * 2019-09-16 2019-12-27 Oppo广东移动通信有限公司 Method, device and terminal for tracking point of regard and computer readable storage medium

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US7375728B2 (en) * 2001-10-01 2008-05-20 University Of Minnesota Virtual mirror
JP2008076310A (en) * 2006-09-22 2008-04-03 Nissan Motor Co Ltd Routing guide display device and routing guide method

Also Published As

Publication number Publication date
CN111767844A (en) 2020-10-13
JP2021119466A (en) 2021-08-12
CN111767844B (en) 2023-12-29
KR102418795B1 (en) 2022-07-07
KR20210042273A (en) 2021-04-19
US11697428B2 (en) 2023-07-11
US20210403026A1 (en) 2021-12-30
EP3822850B1 (en) 2023-09-27
EP3822850A2 (en) 2021-05-19
JP7192017B2 (en) 2022-12-19

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